While drivers are needed for corect printing in a windowing environment, at the lower level, they program sends codes (escape codes) to the printer.
In early dot matrix printers, there used to be 2 standards.
An EPSON standard and an <EscP> standard.
For example basic.chr(15) always set the printer into compressed mode and chr(18) reset it to he default power on seting. This worked for all dot printers (IBM, EPSON, TI etc).
Having said that, why bother to get an old (generic) set of commands when straight googling for KX-P11 auto completed as KX-P1150 and gave me the following two links - among others with a recommended driver "eps9hih" - which itself seems a generic driver.